This isn't BMW specific, so YMMV, but here's my technique:
1. I fill the top coolant hose until I can't get any more coolant in...make sure the heater is set to full hot too.
2. After reconnecting that, I fill the overflow tank to the normal cold mark.
3. Then I just point the nose of the car up my steep driveway and turn the car on.
4. I put the heater on high, open a bleeder (or whatever pressurized connection is highest) until the bubbling stops, make sure the hoses & cabin both get hot and then close off the bleeder or button up the system...
5. I take the extra coolant in a jug, set off on a drive and verify that it's still full.
6. I also check the level monthly, just for kicks. This car seems more sensitive to coolant system problems, IMHO.